// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*!
 * @file HandMessageSubscriber.cpp
 * This file contains the implementation of the subscriber functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>

#include "HandMessageSubscriber.h"
#include "HandMessagePubSubTypes.h"

using namespace eprosima::fastdds::dds;

HandMessageSubscriber::HandMessageSubscriber()
        : participant_(nullptr)
        , subscriber_(nullptr)
        , topic_(nullptr)
        , reader_(nullptr)
        //, type_(new HandMessagePubSubType())
{
    listener_ = new SubListener();
}

HandMessageSubscriber::~HandMessageSubscriber()
{
    if (reader_ != nullptr)
    {
        subscriber_->delete_datareader(reader_);
    }
    if (topic_ != nullptr)
    {
        participant_->delete_topic(topic_);
    }
    if (subscriber_ != nullptr)
    {
        participant_->delete_subscriber(subscriber_);
    }
    DomainParticipantFactory::get_instance()->delete_participant(participant_);
}

bool HandMessageSubscriber::init()
{
    //CREATE THE PARTICIPANT
    DomainParticipantQos pqos;
    pqos.name("Participant_sub");
    participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
    if (participant_ == nullptr)
    {
        return false;
    }

    //REGISTER THE TYPE
    eprosima::fastdds::dds::TypeSupport type_(new HandMessagePubSubType());
    type_.register_type(participant_);

    //CREATE THE SUBSCRIBER
    subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT, nullptr);
    if (subscriber_ == nullptr)
    {
        return false;
    }

    //CREATE THE TOPIC
    topic_ = participant_->create_topic(
            "HandMessageTopic",
            type_.get_type_name(),
            TOPIC_QOS_DEFAULT);
    if (topic_ == nullptr)
    {
        return false;
    }

    //CREATE THE READER
    DataReaderQos rqos = DATAREADER_QOS_DEFAULT;
    rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
    reader_ = subscriber_->create_datareader(topic_, rqos, listener_);
    if (reader_ == nullptr)
    {
        return false;
    }

    return true;
}

void SubListener::on_subscription_matched(
        DataReader*,
        const SubscriptionMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        matched = info.total_count;
        std::cout << "Subscriber matched." << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        matched = info.total_count;
        std::cout << "Subscriber unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
    }
}

void SubListener::on_data_available(
        DataReader* reader)
{
    SampleInfo info;
    if (reader->take_next_sample(&hello_, &info) == ReturnCode_t::RETCODE_OK)
    {
        if (info.instance_state == ALIVE_INSTANCE_STATE)
        {
            get_new_message = true;            
        }
    }
}




bool HandMessageSubscriber::Avaliable::get() {
    if (listener_->matched > 0 && listener_->get_new_message) {
        return true;
    }
    return false;
}

void HandMessageSubscriber::Avaliable::set(bool value) {
	listener_->get_new_message = value;
}

array<Byte>^ HandMessageSubscriber::DetValid::get(){
    array<System::Byte>^ managedArray = gcnew array<System::Byte>(2);
    auto det_valid = listener_->hello_.det_valid();
    for (int i = 0; i < 2; i++) {
        managedArray[i] = det_valid[i];
    }
    return managedArray;
}

array<Byte>^ HandMessageSubscriber::Warning::get() {
	array<System::Byte>^ managedArray = gcnew array<System::Byte>(2);
	auto warning = listener_->hello_.warning();
	for (int i = 0; i < 2; i++) {
		managedArray[i] = warning[i];
	}
	return managedArray;
}

array<array<float>^>^ HandMessageSubscriber::JointsL::get() {
    array<array<float>^>^ managedArray = gcnew array<array<float>^>(21);
    auto joints_l = listener_->hello_.joints_l();
    for (int i = 0; i < 21; i++) {
        managedArray[i] = gcnew array<float>(3);
        for (int j = 0; j < 3; j++) {
            managedArray[i][j] = joints_l[i][j];
        }
    }
    return managedArray;
}

array<array<float>^>^ HandMessageSubscriber::JointsR::get() {
	array<array<float>^>^ managedArray = gcnew array<array<float>^>(21);
	auto joints_r = listener_->hello_.joints_r();
	for (int i = 0; i < 21; i++) {
		managedArray[i] = gcnew array<float>(3);
		for (int j = 0; j < 3; j++) {
			managedArray[i][j] = joints_r[i][j];
		}
	}
	return managedArray;
}

array<array<float>^>^ HandMessageSubscriber::Joints3DL::get() {
	array<array<float>^>^ managedArray = gcnew array<array<float>^>(21);
	auto joints_3d_l = listener_->hello_.joints3d_l();
	for (int i = 0; i < 21; i++) {
		managedArray[i] = gcnew array<float>(3);
		for (int j = 0; j < 3; j++) {
			managedArray[i][j] = joints_3d_l[i][j];
		}
	}
	return managedArray;
}

array<array<float>^>^ HandMessageSubscriber::Joints3DR::get() {
	array<array<float>^>^ managedArray = gcnew array<array<float>^>(21);
	auto joints_3d_r = listener_->hello_.joints3d_r();
	for (int i = 0; i < 21; i++) {
		managedArray[i] = gcnew array<float>(3);
		for (int j = 0; j < 3; j++) {
			managedArray[i][j] = joints_3d_r[i][j];
		}
	}
	return managedArray;
}

array<array<float>^>^ HandMessageSubscriber::Verts3DL::get() {
	array<array<float>^>^ managedArray = gcnew array<array<float>^>(778);
	auto verts_3d_l = listener_->hello_.verts3d_l();
	for (int i = 0; i < 778; i++) {
		managedArray[i] = gcnew array<float>(3);
		for (int j = 0; j < 3; j++) {
			managedArray[i][j] = verts_3d_l[i][j];
		}
	}
	return managedArray;
}

array<array<float>^>^ HandMessageSubscriber::Verts3DR::get() {
	array<array<float>^>^ managedArray = gcnew array<array<float>^>(778);
	auto verts_3d_r = listener_->hello_.verts3d_r();
	for (int i = 0; i < 778; i++) {
		managedArray[i] = gcnew array<float>(3);
		for (int j = 0; j < 3; j++) {
			managedArray[i][j] = verts_3d_r[i][j];
		}
	}
	return managedArray;
}
